CN109151672A - Audio source tracking system and its control method based on array microphone - Google Patents
Audio source tracking system and its control method based on array microphone Download PDFInfo
- Publication number
- CN109151672A CN109151672A CN201811094328.9A CN201811094328A CN109151672A CN 109151672 A CN109151672 A CN 109151672A CN 201811094328 A CN201811094328 A CN 201811094328A CN 109151672 A CN109151672 A CN 109151672A
- Authority
- CN
- China
- Prior art keywords
- array
- microphone
- signal
- filter
- tracking system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R5/00—Stereophonic arrangements
- H04R5/027—Spatial or constructional arrangements of microphones, e.g. in dummy heads
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
Abstract
Audio source tracking system and its control method based on array microphone, including, including array microphone, filter amplification circuit, single-chip microcontroller, rotary head and encoder；In use, first carrying out pickup with array microphone；Microphone pickup signal is handled by Sampling frequency filter；Then treated signal is sampled by the ADC of single-chip microcontroller；DOA estimation is carried out to sampled data after finally sampling terminates, the angle changing rate of the angle and current holder estimated, to determine whether rotary platform and rotation direction, so that camera or high directivity microphone be made to be directed at sound source；The present invention has the advantages that tracking is accurate.
Description
Technical field
The present invention relates to audio source tracking technical fields, in particular to based on the audio source tracking system of array microphone and its control
Method processed.
Background technique
In the prior art, in traditional array signal processing, master to be processed is narrow band signal, and narrow band signal refers to band
Width is far smaller than the signal of centre frequency, and assumes that signal source is located at the far field of array, therefore plane wave propagation can be used
It is theoretical, it is believed that signal is incident in parallel, does not have amplitude difference between the signal that each array element receives, caused by only existing propagation delay
The model and algorithm of phase difference traditional array signal processing are all built upon under conditions of narrow band signal, but voice signal
Frequency range is 300-3400Hz, and bandwidth is larger, so cannot directly handle voice signal.
Existing audio source tracking system shows the acquisition of sound-source signal by traditional array signal, and disadvantage cannot be real
The accurate positionin tracking of existing sound source.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides based on array microphone audio source tracking system and
Its control method, can estimate the incoming wave orientation of sound source, thus realize the real-time tracking of target, the denoising of target correlated characteristic
The function of extraction.
In order to achieve the above object, the technical solution adopted by the present invention are as follows:
Audio source tracking system based on array microphone, including array microphone, filter amplification circuit, single-chip microcontroller, rotation
Holder and encoder；
The pickup signal of the array microphone passes to filter amplification circuit；
The filter amplification circuit is carried out by filtering, amplification, biasing is transmitted to single-chip microcontroller six channel ADC after setting
Sampling；
The angle calculated is sent instructions to encoder by serial port module by the central processing unit of the single-chip microcontroller,
Control rotation rotary head.
Further, the array microphone is placed on airspace according to array manifold using the microphone of certain amount
In, airspace signal is sampled, the Space domain sampling data of information source is obtained and is handled.
Further, the central processing unit of the single-chip microcontroller shows the angle calculated by LCD screen.
The control method of audio source tracking system based on array microphone, the steps include:
Step 1: pickup first is carried out with array microphone；Microphone pickup signal is handled by Sampling frequency filter；
Step 2: treated signal is sampled by the ADC of single-chip microcontroller；
Step 3: sampling carries out DOA estimation to sampled data after terminating, the angle and current holder estimated
Angle changing rate, to determine whether rotary platform and rotation direction, to make camera or high directivity microphone alignment sound
Source.
The array microphone is placed in airspace using the microphone of certain amount according to even linear array, is believed airspace
It number is sampled, the signal of even linear array is incident in parallel, and array element spacing is d, and note signal wavelength is λ, element number of array N, array
Effective aperture are as follows:If the distance of signal source to array is r, far field condition can be represented simply asSpatial sampling frequencies are
The Sampling frequency filter is made of comb filter resonator:
Comb filter has N number of equally distributed zero point on unit circle: i.e.Each resonator is in unit circle
On have a pole:The pole of resonator respectively offsets pectination just in Sampling frequency filter
The zero point of filter, coefficient are exactly that filter existsThe response at place；By the pole of the zero point resonator of comb filter
Point moves a bit simultaneously into circle, it may be assumed thatGuarantee the stabilization of filter.
The model of the DOA estimation are as follows: the signal that each array element of array microphone receives are as follows:
s(t) s(T+τ) s(t+2τ) … s(t+(M-1)τ)
WhereinD is array element spacing, and θ is incident angle, and c is speed of sound, and M is array element number, for
Narrowband parses complex signal, has:
s(t) s(t)ejωτ(θ) s(t)ej2ωτ(θ) … s(t)ej(M-1)ωτ(θ)
The signal that i-th of array element receives are as follows:
Indicated with vector form: wherein E (θ) is guiding vector: E (θ)=[1 e to X (t)=s (t) E (θ)jωτ(θ) … ej (M-1)ωτ(θ)]T, E (θ) is guiding vector；
The algorithm of the DOA estimation are as follows: known reception signal observation sample sequence { xi(t) }, i=1,2 ..., M are to have
Limit for length's sequence, is denoted as
X (t)=[x1(t) x2(t) … xM(t)]T
By calculating the power of each angle incoming signal, angle corresponding to maximum value is then found out, is exactly uniform line
The parallel incidence angle of signal that battle array is put；First estimation autocorrelation matrix is averaging to the n times snap of acquisition:
Then power corresponding to each angle can be calculated:Wherein, R is auto-correlation
Matrix, M are array element number.
Beneficial effects of the present invention:
The present invention is sent voice signal into the ADC of single-chip microcontroller by array microphone, and single-chip microcontroller is by collected voice
Instruction carries out direction estimation, is estimated using the DOA technology in array signal processing sound source, thus make cloud platform rotation, with
Track images target.
Detailed description of the invention
Fig. 1 is structure principle chart of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Shown in referring to Fig.1, the audio source tracking system based on array microphone, including array microphone, filter amplification circuit,
Single-chip microcontroller, rotary head and encoder；
The pickup signal of the array microphone passes to filter amplification circuit；
The filter amplification circuit is carried out by filtering, amplification, biasing is transmitted to single-chip microcontroller six channel ADC after setting
Sampling；
The angle calculated is sent instructions to encoder by serial port module by the central processing unit of the single-chip microcontroller,
Control rotation rotary head.
The array microphone is placed in airspace using the microphone of certain amount according to array manifold, is believed airspace
It number is sampled, obtains the Space domain sampling data of information source and handled.
The central processing unit of the single-chip microcontroller shows the angle calculated by LCD screen.
The linear array for having selected 6 array elements, due to velocity of sound v=340m/s, voice frequency is between 300-3400Hz, wherein f=
Corresponding half wavelength lambda=the 0.5*v/f=0.1m=10cm of 1700Hz, array element spacing are 10cm.
The control method of audio source tracking system based on array microphone, the steps include:
Step 1: pickup first is carried out for the array microphone of 10cm with using 6 array elements, array element spacing, to airspace signal
It is sampled, the signal of even linear array is incident in parallel, and array element spacing is d, and note signal wavelength is λ, element number of array N, array etc.
Imitate aperture are as follows:If the distance of signal source to array is r, far field condition can be represented simply as
Spatial sampling frequencies areMicrophone pickup signal is handled by Sampling frequency filter；Normal voice
The power of frequency component is maximum in 600Hz-1200Hz, so being sliced within this range, using 200Hz as interval, altogether
Cut four；Frequency slice sampling is Sampling frequency filter, and Sampling frequency filter is divided into the comb filter of 40 ranks
With the resonator of 4 different frequencies；
Comb filter has N number of equally distributed zero point on unit circle: i.e.Each resonator
There is a pole on unit circle:The pole of resonator is just respective in Sampling frequency filter
The zero point of comb filter is offset, coefficient is exactly that filter existsThe response at place；
N number of zero point of comb filter is since delay is formed, as long as the numerical stability of delay, the position of zero point is exactly
Stable, weighting coefficient of N number of pole of the resonator on unit circle depending on single order resonator system feedback branch, but these
Weighting coefficient suffers from the influence of finite word length effect, it is difficult to guarantee N number of pole all on unit circle, thus it cannot be guaranteed that
N number of pole is completely counterbalanced by with N number of zero point, once cannot be completely counterbalanced by, filter will be unstable, in order to prevent such case
Occur, the pole of the zero point resonator of comb filter can be moved a bit into circle simultaneously, so that it may guarantee filter
Stablize, it may be assumed that
After 200 snapshot datas are by comb filter, pass through 40 transition points before filter output is stablized
After removal, obtain 160 dimensions stablize output, then data pass through each road resonator again, respectively obtain 600Hz, 800Hz,
The signal component of 1000Hz, 1200Hz realize frequency slice；
Step 2: treated signal is sampled by the ADC of single-chip microcontroller；
In the case where only one sound source, signal that each array element of array microphone receives are as follows:
s(t) s(t+τ) s(t+2τ) … s(t+(M-1)τ)
WhereinD is array element spacing, and θ is incident angle, and c is speed of sound, and M is array element number for narrow
Band parsing complex signal, has:
s(t) s(t)ejωτ(θ) s(t)ej2ωτ(θ) … s(t)ej(M-1)ωτ(θ)
The signal that i-th of array element receives are as follows:
Indicated with vector form: wherein E (θ) is guiding vector to X (t)=s (t) E (θ):
E (θ)=[1 ejωτ(θ) … ej(M-1)ωτ(θ)]T
Known reception signal observation sample sequence { xi(t) }, i=1,2 ..., M are finite length sequence, are denoted as
X (t)=[x1(t) x2(t) … xM(t)]T
Period map method is the power by calculating each angle incoming signal, then finds out angle corresponding to maximum value,
It is exactly the angle of voice signal incidence.
Way is first to be averaging estimation autocorrelation matrix to the n times snap of acquisition:
Then power corresponding to each angle can be calculated
This method is more steady, is not very stringent in required precision although main lobe is wider from the point of view of simulation result
In the case where can apply, especially have mixing interfere in the case where period map method also can relatively accurately estimate angle.And
The algorithm complexity of the algorithm is lower, is easy to realize on single-chip microcontroller.
Step 3: sampling carries out DOA estimation to sampled data after terminating, the angle and current holder estimated
Angle changing rate, to determine whether rotary platform and rotation direction, to make camera or high directivity microphone alignment sound
Source.
Claims (8)
1. the audio source tracking system based on array microphone, which is characterized in that including array microphone, filter amplification circuit, list
Piece machine, rotary head and encoder；
The pickup signal of the array microphone passes to filter amplification circuit；
The filter amplification circuit is adopted by filtering, amplification, biasing is transmitted to single-chip microcontroller six channel ADC after setting
Sample；
The angle calculated is sent instructions to encoder by serial port module by the central processing unit of the single-chip microcontroller, control
Rotate rotary head.
2. the audio source tracking system according to claim 1 based on array microphone, which is characterized in that the array wheat
The microphone of gram elegance certain amount is placed in airspace according to array manifold, is sampled to airspace signal, is obtained information source
Space domain sampling data and handled.
3. the audio source tracking system according to claim 1 based on array microphone, which is characterized in that the single-chip microcontroller
Central processing unit the angle calculated is shown by LCD screen.
4. the control method of the audio source tracking system based on array microphone, which is characterized in that the steps include:
Step 1: pickup first is carried out with array microphone；Microphone pickup signal is handled by Sampling frequency filter；
Step 2: treated signal is sampled by the ADC of single-chip microcontroller；
Step 3: sampling carries out DOA estimation to sampled data after terminating, the angle of the angle and current holder estimated
Compare, to determine whether rotary platform and rotation direction, so that camera or high directivity microphone be made to be directed at sound source.
5. the control method of the audio source tracking system according to claim 4 based on array microphone, which is characterized in that institute
The array microphone stated is placed in airspace using the microphone of certain amount according to even linear array, is adopted to airspace signal
The signal of sample, even linear array is incident in parallel, and array element spacing is d, and note signal wavelength is λ, element number of array N, array effective aperture
Are as follows:If the distance of signal source to array is r, far field condition can be represented simply asIt adopts in space
Sample frequency is
6. the control method of the audio source tracking system according to claim 4 based on array microphone, which is characterized in that institute
The Sampling frequency filter stated is made of comb filter resonator:Comb filter
There is N number of equally distributed zero point on unit circle: i.e.Each resonator has a pole on unit circle
Point:The pole of resonator respectively offsets the zero of comb filter just in Sampling frequency filter
Point, coefficient are exactly that filter existsThe response at place；By the pole of the zero point resonator of comb filter simultaneously to circle
Interior shifting is a bit, it may be assumed that
Guarantee the stabilization of filter.
7. the control method of the audio source tracking system according to claim 4 based on array microphone, which is characterized in that institute
The model for the DOA estimation stated are as follows: the signal that each array element of array microphone receives are as follows:
s(t) s(t+τ) s(t+2τ) … s(t+(M-1)τ)
WhereinD is array element spacing, and θ is incident angle, and c is speed of sound, and M is array element number, for narrowband solution
Complex signal is analysed, is had:
s(t) s(t)ejωτ(θ) s(t)ej2ωτ(θ) … s(t)ej(M-1)ωτ(θ)
The signal that i-th of array element receives are as follows:
Indicated with vector form: wherein E (θ) is guiding vector to X (t)=s (t) E (θ):
E (θ)=[1 ejωτ(θ) … ej(M-1)ωτ(θ)]T, E (θ) is guiding vector.
8. the control method of the audio source tracking system according to claim 4 based on array microphone, which is characterized in that institute
The algorithm for the DOA estimation stated are as follows: known reception signal observation sample sequence { xi(t) }, i=1,2 ..., M are finite length sequence,
It is denoted as
X (t)=[x1(t) x2(t) … xM(t)]T
By calculating the power of each angle incoming signal, angle corresponding to maximum value is then found out, is exactly that even linear array is put
The parallel incidence angle of signal；First estimation autocorrelation matrix is averaging to the n times snap of acquisition:
Then power corresponding to each angle can be calculated:Wherein R is autocorrelation matrix, M
For array element number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811094328.9A CN109151672B (en) | 2018-09-19 | 2018-09-19 | Sound source tracking system based on array microphone and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811094328.9A CN109151672B (en) | 2018-09-19 | 2018-09-19 | Sound source tracking system based on array microphone and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109151672A true CN109151672A (en) | 2019-01-04 |
| CN109151672B CN109151672B (en) | 2022-08-05 |
Family
ID=64815121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811094328.9A Active CN109151672B (en) | 2018-09-19 | 2018-09-19 | Sound source tracking system based on array microphone and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109151672B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112788482A (en) * | 2021-03-01 | 2021-05-11 | 北京电信易通信息技术股份有限公司 | Microphone array positioning and holder linkage method and device |
| CN113640805A (en) * | 2021-07-16 | 2021-11-12 | 中国科学院声学研究所 | Omnibearing automatic monitoring and tracking device and method for acoustic image of field birds |
| CN114822579A (en) * | 2022-06-28 | 2022-07-29 | 天津大学 | Signal estimation method based on first-order differential microphone array |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5360539A (en) * | 1976-11-12 | 1978-05-31 | Hitachi Ltd | Digital filter |
| US4101853A (en) * | 1975-09-12 | 1978-07-18 | Hitachi, Ltd. | Frequency sampling filter |
| US4423289A (en) * | 1979-06-28 | 1983-12-27 | National Research Development Corporation | Signal processing systems |
| WO2002029432A1 (en) * | 2000-10-02 | 2002-04-11 | Chubu Electric Power Co., Inc., | Sound source probing system |
| KR20020045700A (en) * | 2000-12-09 | 2002-06-20 | 박성근 | A 3-Dimensional Sound Source Tracking Device Using A CCD Camera And A Mics |
| JP2002359767A (en) * | 2001-05-31 | 2002-12-13 | Tamagawa Seiki Co Ltd | Camera of sound source tracking type |
| US6826284B1 (en) * | 2000-02-04 | 2004-11-30 | Agere Systems Inc. | Method and apparatus for passive acoustic source localization for video camera steering applications |
| US7277116B1 (en) * | 1998-07-03 | 2007-10-02 | Antonio Messina | Method and apparatus for automatically controlling video cameras using microphones |
| CN102137318A (en) * | 2010-01-22 | 2011-07-27 | 华为终端有限公司 | Method and device for controlling adapterization |
| CN102831898A (en) * | 2012-08-31 | 2012-12-19 | 厦门大学 | Microphone array voice enhancement device with sound source direction tracking function and method thereof |
| CN203151672U (en) * | 2013-03-21 | 2013-08-21 | 徐华中 | Video system having function of sound source location |
| US20140241549A1 (en) * | 2013-02-22 | 2014-08-28 | Texas Instruments Incorporated | Robust Estimation of Sound Source Localization |
| CN104093094A (en) * | 2014-06-16 | 2014-10-08 | 华南理工大学 | Indoor voice acquisition method and device based on self-adaptive rotating alignment |
| CN104469154A (en) * | 2014-12-05 | 2015-03-25 | 合肥国科声拓信息技术有限公司 | Camera guiding device and method based on microphone array |
| CN104535959A (en) * | 2014-12-05 | 2015-04-22 | 天津大学 | Signal frequency and DOA joint measurement method and device under spatial-temporal sub-nyquist sampling |
| CN204539315U (en) * | 2015-04-02 | 2015-08-05 | 尹煜敏 | A kind of video conference machine of auditory localization |
| CN105338292A (en) * | 2014-08-04 | 2016-02-17 | 杭州海康威视数字技术股份有限公司 | Directional sound source control device and method for video surveillance |
| CN105828266A (en) * | 2016-03-11 | 2016-08-03 | 苏州奇梦者网络科技有限公司 | Signal processing method and system for microphone array |
| CN207503048U (en) * | 2017-12-01 | 2018-06-15 | 深圳市悠响声学科技有限公司 | A kind of audio source tracking circuit of robot |
-
2018
- 2018-09-19 CN CN201811094328.9A patent/CN109151672B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4101853A (en) * | 1975-09-12 | 1978-07-18 | Hitachi, Ltd. | Frequency sampling filter |
| JPS5360539A (en) * | 1976-11-12 | 1978-05-31 | Hitachi Ltd | Digital filter |
| US4423289A (en) * | 1979-06-28 | 1983-12-27 | National Research Development Corporation | Signal processing systems |
| US7277116B1 (en) * | 1998-07-03 | 2007-10-02 | Antonio Messina | Method and apparatus for automatically controlling video cameras using microphones |
| US6826284B1 (en) * | 2000-02-04 | 2004-11-30 | Agere Systems Inc. | Method and apparatus for passive acoustic source localization for video camera steering applications |
| WO2002029432A1 (en) * | 2000-10-02 | 2002-04-11 | Chubu Electric Power Co., Inc., | Sound source probing system |
| KR20020045700A (en) * | 2000-12-09 | 2002-06-20 | 박성근 | A 3-Dimensional Sound Source Tracking Device Using A CCD Camera And A Mics |
| JP2002359767A (en) * | 2001-05-31 | 2002-12-13 | Tamagawa Seiki Co Ltd | Camera of sound source tracking type |
| CN102137318A (en) * | 2010-01-22 | 2011-07-27 | 华为终端有限公司 | Method and device for controlling adapterization |
| CN102831898A (en) * | 2012-08-31 | 2012-12-19 | 厦门大学 | Microphone array voice enhancement device with sound source direction tracking function and method thereof |
| US20140241549A1 (en) * | 2013-02-22 | 2014-08-28 | Texas Instruments Incorporated | Robust Estimation of Sound Source Localization |
| CN203151672U (en) * | 2013-03-21 | 2013-08-21 | 徐华中 | Video system having function of sound source location |
| CN104093094A (en) * | 2014-06-16 | 2014-10-08 | 华南理工大学 | Indoor voice acquisition method and device based on self-adaptive rotating alignment |
| CN105338292A (en) * | 2014-08-04 | 2016-02-17 | 杭州海康威视数字技术股份有限公司 | Directional sound source control device and method for video surveillance |
| CN104469154A (en) * | 2014-12-05 | 2015-03-25 | 合肥国科声拓信息技术有限公司 | Camera guiding device and method based on microphone array |
| CN104535959A (en) * | 2014-12-05 | 2015-04-22 | 天津大学 | Signal frequency and DOA joint measurement method and device under spatial-temporal sub-nyquist sampling |
| CN204539315U (en) * | 2015-04-02 | 2015-08-05 | 尹煜敏 | A kind of video conference machine of auditory localization |
| CN105828266A (en) * | 2016-03-11 | 2016-08-03 | 苏州奇梦者网络科技有限公司 | Signal processing method and system for microphone array |
| CN207503048U (en) * | 2017-12-01 | 2018-06-15 | 深圳市悠响声学科技有限公司 | A kind of audio source tracking circuit of robot |
Non-Patent Citations (5)
| Title |
|---|
| CYAYA007: "日期以及网址截图", 《百度文库》 * |
| CYAYA007: "频率采样型滤波器实验报告", 《百度文库》 * |
| JESPER RINDOM JENSEN: "DOA and pitch estimation of audio sources using IAA-based filtering", 《2014 EUSIPCO》 * |
| 张帆: "基于麦克风阵列的智能监控系统", 《电子测量技术》 * |
| 罗光明: "整系数数字滤波器的设计", 《湘潭大学自然科学学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112788482A (en) * | 2021-03-01 | 2021-05-11 | 北京电信易通信息技术股份有限公司 | Microphone array positioning and holder linkage method and device |
| CN112788482B (en) * | 2021-03-01 | 2021-07-30 | 北京电信易通信息技术股份有限公司 | Microphone array positioning and holder linkage method and device |
| CN113640805A (en) * | 2021-07-16 | 2021-11-12 | 中国科学院声学研究所 | Omnibearing automatic monitoring and tracking device and method for acoustic image of field birds |
| CN114822579A (en) * | 2022-06-28 | 2022-07-29 | 天津大学 | Signal estimation method based on first-order differential microphone array |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109151672B (en) | 2022-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109151672A (en) | Audio source tracking system and its control method based on array microphone | |
| CN104076331B (en) | A kind of sound localization method of seven yuan of microphone arrays | |
| CN110515038B (en) | Self-adaptive passive positioning device based on unmanned aerial vehicle-array and implementation method | |
| CN105301563B (en) | A kind of double sound source localization method that least square method is converted based on consistent focusing | |
| CN109188362B (en) | Microphone array sound source positioning signal processing method | |
| CN104093094A (en) | Indoor voice acquisition method and device based on self-adaptive rotating alignment | |
| CN108802705B (en) | Space-time adaptive processing method and system based on sparsity | |
| JP2018091826A (en) | Systems and methods for pulse descriptor word generation using blind source separation | |
| CN105323772A (en) | Self-localization method of sensor network node based on smartphone | |
| CN109597021B (en) | Direction-of-arrival estimation method and device | |
| CN111679245B (en) | Sub-array coincidence split beam orientation method based on uniform circular array | |
| CN208013434U (en) | A kind of laser ranging system | |
| CN112034418A (en) | Beam scanning method based on frequency domain Bark sub-band and sound source orientation device | |
| CN203148562U (en) | Transformer substation noise imaging monitoring device | |
| CN108957389A (en) | A kind of real number field multi channel signals method for estimating target azimuth | |
| CN115882881A (en) | Initial angle searching method and terminal of array antenna time division system under strong interference | |
| Lo | Flight parameter estimation using instantaneous frequency and direction of arrival measurements from a single acoustic sensor node | |
| CN116008913A (en) | Unmanned aerial vehicle detection positioning method based on STM32 and small microphone array | |
| CN106935976B (en) | Mobile satellite communication antenna servo system based on FFT tracking technology | |
| Zhou et al. | A zero crossing algorithm for time delay estimation | |
| CN115015895A (en) | Method and system for calibrating position of horizontal array element | |
| Nichols et al. | Cross-coherent vector sensor processing for spatially distributed glider networks | |
| CN109061564B (en) | Simplified near-field positioning method based on high-order cumulant | |
| Qinqin et al. | Study of delay estimation in acoustic source localization based on microphone array | |
| CN114061730B (en) | Target scattering echo variable step length rapid self-adaptive estimation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |